1． School of Information Science and Technology，Northeastern University，Shenyang 110819，China;
2． School of Information Engineering，Shenyang University of Chemical Technology，Shenyang110142，China;
3． Shenyang Institute of Automation，Chinese Academy of Sci

In view of that the ant colony optimization algorithm with a two-way parallel searching tactic
has the defects of losing some feasible paths and even optimal paths， the environment models of a
mobile robot are established by grids method and a new ants meeting judgment is used to solve the
path planning problem of a mobile robot． The new judgment can judge if ants meet according to the
kind of pheromones． A new path selecting method and a new global pheromone updating technique
are proposed to avoid running into local optima． Simulation results of two-dimension environment indicate
that improved algorithm can plan a safe optimal path quickly for the existing paths．

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